CN106160609A - A kind of permanent magnetic brushless control method - Google Patents
A kind of permanent magnetic brushless control method Download PDFInfo
- Publication number
- CN106160609A CN106160609A CN201610542630.0A CN201610542630A CN106160609A CN 106160609 A CN106160609 A CN 106160609A CN 201610542630 A CN201610542630 A CN 201610542630A CN 106160609 A CN106160609 A CN 106160609A
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- phase
- rotor
- current
- permanent magnetic
- signal
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
Abstract
The invention discloses a kind of permanent magnetic brushless control method, by the detection phase voltage of motor and phase current and carry out Mathematical treatment and obtain the most calibrated rotor-position signal, the phase voltage detected and phase current are additionally carried out Mathematical treatment simultaneously and obtain rotor flux, and phase current is done Integral Processing obtain current integration signal, the phase contrast that phase contrast between this current integration signal and rotor flux is between phase current and back-emf, then, by detecting and compensating the phase contrast between rotor flux and current integration signal, form the closed loop control to this phase contrast, the output valve of this closed loop is the corrected value of rotor-position signal, finally, rotor position information is calibrated obtains exact value, motor is made to operate in optimal reversal point.The present invention can realize position Sensorless Control, and effectively suppression current phase is delayed, improves voltage utilization, increases speed adjustable range and reduces torque pulsation.
Description
Technical field
The present invention relates to Electric Drive technical field, particularly relate to a kind of permanent magnetic brushless control method.
Background technology
Permanent magnetic brushless controls simple, power density advantages of higher because of it, applies quite varied.At present, numerous application
Occasion needs to use position-sensor-free permanent magnetic brushless drive system, but when motor uses position Sensorless Control to calculate
When method is driven, exist between the rotor position information that the signal that can embody rotor position information that gets is usual and actual
Phase error, adds winding reactance and hinders the impact of the factors such as current of commutation change and armature-reaction, and motor actually exists
When non-ideal reversal point has carried out commutation and commutation, electric current can not suddenly change, and causes existing between the phase place of phase current with counter electromotive force phase
Potential difference and phase current often lag behind back-emf.Current phase is delayed brings many adverse effects to motor performance, mainly have with
The most what time:
1. motor torque/current ratio reduces, reduction of exerting oneself, and carrying load ability weakens, and voltage utilization reduces；
2. containing bigger idle component in winding current, constant of the machine becomes big, and speed adjustable range reduces, and electric current produces ripple
Aggravation torque ripple；
3. causing increasing magnetic effect, iron loss increase is the most saturated, and copper loss increases, and temperature rise is serious.
When high speed operation of motor, phase current phase lag problem is more prominent, on the impact of motor performance the most not
Hold and ignore, thus limit the permanent magnetic brushless application in broader fields such as high rotating speed high accuracy.And existing suppression should
It is the most relatively low all to there is bigger defect, especially control accuracy in the method for problem.
Summary of the invention
The technical problem to be solved is the defect for background technology, it is provided that a kind of permanent magnetic brushless controls
Method, Parameter sensitivity is low, and control accuracy is high, applied widely and control simple.
The present invention solves above-mentioned technical problem by the following technical solutions:
A kind of permanent magnetic brushless control method, comprises the steps of
Step 1), detection obtains phase voltage and the phase current of permanent magnetic brushless；
Step 2), phase voltage and phase current according to permanent magnetic brushless are calculated the most calibrated rotor-position letter
Number；
Step 3), phase voltage and phase current according to permanent magnetic brushless are calculated rotor flux signal and current integration
Signal.
Step 4), carry out the phase place of the phase place of rotor flux signal Yu current integration signal making difference process, represented
The phase error signal of rotor-position signal deviation value；
Step 5), phase error signal is carried out regulating error, obtains the electric current lagging phase angle of permanent magnetic brushless
The offset of offset, i.e. rotor-position signal；
Step 6), the offset of rotor-position signal is compensated the most calibrated rotor-position signal, after being compensated
Rotor-position signal；
Step 7), according to the rotor-position signal structure commutation logic after compensating；
Step 8), according to step 7) commutation logic that constructs controls permanent magnetic brushless and commutates；
Step 9), repeated execution of steps 1) to step 8), form the closed loop control to back-emf Yu phase current phase contrast, make
Both phase places are consistent, and motor stabilizing operates in optimal reversal point.
As the one further prioritization scheme of permanent magnetic brushless control method of the present invention, step 5) described in error
Regulation uses any one in P regulation, PI regulation, PD regulation, PID regulation.
The present invention uses above technical scheme compared with prior art, has following technical effect that
1. motor can remain in full speed full power range that torque capacity/current ratio output and maximum active power are defeated
Go out；
The most directly detecting and compensate phase contrast, Parameter sensitivity is low, and regulating error device forms the closed loop control to phase contrast
System, is not suddenlyd change by motor operating conditions and is affected, and control accuracy is high；
3., by the Mathematical treatment of tested measurement and regulating error being can be achieved with the correction to motor commutation point, control
Simply, reliability is high.
Accompanying drawing explanation
Fig. 1 be the present invention schematic flow sheet；
Fig. 2 is the phase diagram of rotor flux of the present invention and back-emf；
Fig. 3 is the phase diagram of current integration signal of the present invention and electric current；
Fig. 4 is the phase diagram of rotor flux of the present invention, back-emf, current integration and electric current；
Fig. 5 is the phase contrast figure of our bright rotor flux and current integration；
Fig. 6 is the variation diagram of our bright reversal point.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical scheme is described in further detail:
As it is shown in figure 1, the invention discloses a kind of permanent magnetic brushless control method, comprise step in detail below:
Step 1), detection obtains phase voltage u and the phase current i of permanent magnetic brushless；
Step 2), according to phase voltage u of permanent magnetic brushless and phase current i carry out rotor position information be calculated without
The rotor-position signal θ i of correction；
Step 3), phase voltage u and phase current i according to permanent magnetic brushless are calculated rotor flux ψ and current integration
Signal fiadt；
Step 4), by phase error detection module, rotor flux ψ and current integration signal fidt is made difference and process,
Obtaining phase error signal α, this phase contrast is equivalent to rotor-position signal deviation value；
Step 5), utilize regulating error device that phase error signal α is carried out regulating error, obtain the electricity of permanent magnetic brushless
The offset of stream lagging phase angle, i.e. the offset β of rotor-position signal；
Step 6), utilize error compensation unit, the correction value beta of rotor-position signal is compensated the most calibrated rotor position
Confidence θ i, the rotor-position signal θ o after being compensated；
Step 7), construct commutation logic according to the rotor-position signal θ o after compensating；
Step 8), according to step 7) commutation logic that constructs controls permanent magnetic brushless and commutates；
Step 9), repeated execution of steps 1) to step 8), form the closed loop control to back-emf Yu phase current phase contrast, make
Both phase places are consistent, and motor stabilizing operates in optimal reversal point.
Step 5) in regulating error PI can be used to regulate, it would however also be possible to employ P regulation, PD regulation, PID regulation in appoint
Meaning one.
Fig. 2 shows the phase relation between rotor flux ψ and back-emf e.
Fig. 3 shows the phase relation between current integration signal fidt and phase current i.
Fig. 4 shows the phase relation of rotor flux ψ, back-emf e, current integration fidt and phase current i: rotor flux ψ
And the phase contrast α between current integration signal fidt is the phase contrast between back-emf e and electric current i.
Fig. 5 and Fig. 6 shows the corresponding relation that phase contrast adjusts with reversal point: when phase current i lags behind back-emf e,
The phase difference value α that phase detecting module detects on the occasion of, output valve β of regulating error device can increase therewith, and phase contrast α is the most not
Disconnected reduction is until being zero, and reversal point moves forward to optimal reversal point B point from current some A point；Otherwise move after reversal point.
Following table shows that power tube conducting basis for estimation: θ is rotor-position signal, at each turn of consideration early commutation angle beta
In interval, sub-position, the situation of opening of corresponding each power tube, constitute the switching logic under reversal point correction.
It is understood that unless otherwise defined, all terms used herein (include skill to those skilled in the art of the present technique
Art term and scientific terminology) have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Also
It should be understood that those terms defined in such as general dictionary should be understood that have with in the context of prior art
The consistent meaning of meaning, and unless defined as here, will not explain by idealization or the most formal implication.
Above-described detailed description of the invention, has been carried out the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not limited to this
Bright, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the present invention
Protection domain within.
Claims (2)
1. a permanent magnetic brushless control method, it is characterised in that comprise the steps of
Step 1), detection obtains phase voltage and the phase current of permanent magnetic brushless；
Step 2), phase voltage and phase current according to permanent magnetic brushless are calculated the most calibrated rotor-position signal；
Step 3), phase voltage and phase current according to permanent magnetic brushless are calculated rotor flux signal and current integration letter
Number；
Step 4), carries out the phase place of the phase place of rotor flux signal Yu current integration signal making difference process, obtains representing rotor
The phase error signal of position signalling deviation value；
Step 5), carries out regulating error to phase error signal, obtains the compensation of the electric current lagging phase angle of permanent magnetic brushless
Value, i.e. the offset of rotor-position signal；
Step 6), compensates the offset of rotor-position signal for the most calibrated rotor-position signal, turning after being compensated
Sub-position signalling；
Step 7), according to the rotor-position signal structure commutation logic after compensating；
Step 8), controls permanent magnetic brushless according to the commutation logic of step 7) structure and commutates；
Step 9), repeated execution of steps 1) to step 8), form the closed loop control to back-emf Yu phase current phase contrast, make both
Phase place is consistent, and motor stabilizing operates in optimal reversal point.
Permanent magnetic brushless control method the most according to claim 1, it is characterised in that the error described in step 5) is adjusted
Joint uses any one in P regulation, PI regulation, PD regulation, PID regulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610542630.0A CN106160609A (en) | 2016-07-11 | 2016-07-11 | A kind of permanent magnetic brushless control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610542630.0A CN106160609A (en) | 2016-07-11 | 2016-07-11 | A kind of permanent magnetic brushless control method |
Publications (1)
| Publication Number | Publication Date |
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| CN106160609A true CN106160609A (en) | 2016-11-23 |
Family
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| CN201610542630.0A Pending CN106160609A (en) | 2016-07-11 | 2016-07-11 | A kind of permanent magnetic brushless control method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107508520A (en) * | 2017-09-14 | 2017-12-22 | 南京航空航天大学 | A kind of magneto control method and device |
| CN109391189A (en) * | 2018-10-17 | 2019-02-26 | 浙江大华技术股份有限公司 | A kind of stepper motor rotational angle compensation method and device |
| CN109861612A (en) * | 2018-12-14 | 2019-06-07 | 北京金风科创风电设备有限公司 | Rotor position angle detection method and device of wind generating set |
| CN110572102A (en) * | 2019-10-11 | 2019-12-13 | 杭州兆鼎科技实业有限公司 | Software fault-tolerant control method and system for motor |
| CN111917351A (en) * | 2020-07-29 | 2020-11-10 | 深圳和而泰智能控制股份有限公司 | Angle compensation method for noninductive control of motor and motor controller |
| CN112422011A (en) * | 2019-08-23 | 2021-02-26 | 广东美的生活电器制造有限公司 | Motor control method and system, computer readable storage medium and household appliance |
| CN112421998A (en) * | 2019-08-23 | 2021-02-26 | 广东美的生活电器制造有限公司 | Driving device, method and system for motor, household appliance and storage medium |
| CN112436760A (en) * | 2019-08-23 | 2021-03-02 | 广东美的生活电器制造有限公司 | Motor control device, method and system, household appliance and storage medium |
| CN112671279A (en) * | 2019-10-16 | 2021-04-16 | 美的威灵电机技术（上海）有限公司 | Position correction device, method, compressor, air conditioner and storage medium |
| CN114499351A (en) * | 2022-01-21 | 2022-05-13 | 北京信息科技大学 | Motor system high-reliability operation method based on current phase closed-loop control |
| US11705840B2 (en) | 2019-11-13 | 2023-07-18 | Guangdong Midea White Home Appliance Technology Innovation Center Co., Ltd. | Commutation error compensation method and apparatus for electric motor, and storage medium |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107508520A (en) * | 2017-09-14 | 2017-12-22 | 南京航空航天大学 | A kind of magneto control method and device |
| CN107508520B (en) * | 2017-09-14 | 2020-04-24 | 南京航空航天大学 | Permanent magnet motor control method and device |
| CN109391189A (en) * | 2018-10-17 | 2019-02-26 | 浙江大华技术股份有限公司 | A kind of stepper motor rotational angle compensation method and device |
| CN109861612A (en) * | 2018-12-14 | 2019-06-07 | 北京金风科创风电设备有限公司 | Rotor position angle detection method and device of wind generating set |
| CN109861612B (en) * | 2018-12-14 | 2021-10-22 | 北京金风科创风电设备有限公司 | Rotor position angle detection method and device of wind generating set |
| CN112436760A (en) * | 2019-08-23 | 2021-03-02 | 广东美的生活电器制造有限公司 | Motor control device, method and system, household appliance and storage medium |
| CN112422011B (en) * | 2019-08-23 | 2022-07-08 | 广东美的生活电器制造有限公司 | Motor control method and system, computer readable storage medium and household appliance |
| CN112421998A (en) * | 2019-08-23 | 2021-02-26 | 广东美的生活电器制造有限公司 | Driving device, method and system for motor, household appliance and storage medium |
| CN112421998B (en) * | 2019-08-23 | 2022-08-09 | 广东美的生活电器制造有限公司 | Driving device, method and system for motor, household appliance and storage medium |
| CN112422011A (en) * | 2019-08-23 | 2021-02-26 | 广东美的生活电器制造有限公司 | Motor control method and system, computer readable storage medium and household appliance |
| CN110572102B (en) * | 2019-10-11 | 2021-07-09 | 杭州兆鼎科技实业有限公司 | Software fault-tolerant control method and system for motor |
| CN110572102A (en) * | 2019-10-11 | 2019-12-13 | 杭州兆鼎科技实业有限公司 | Software fault-tolerant control method and system for motor |
| CN112671279B (en) * | 2019-10-16 | 2022-07-12 | 美的威灵电机技术（上海）有限公司 | Position correction device, method and storage medium |
| CN112671279A (en) * | 2019-10-16 | 2021-04-16 | 美的威灵电机技术（上海）有限公司 | Position correction device, method, compressor, air conditioner and storage medium |
| US11705840B2 (en) | 2019-11-13 | 2023-07-18 | Guangdong Midea White Home Appliance Technology Innovation Center Co., Ltd. | Commutation error compensation method and apparatus for electric motor, and storage medium |
| CN111917351B (en) * | 2020-07-29 | 2022-04-01 | 深圳和而泰智能控制股份有限公司 | Angle compensation method for noninductive control of motor and motor controller |
| CN111917351A (en) * | 2020-07-29 | 2020-11-10 | 深圳和而泰智能控制股份有限公司 | Angle compensation method for noninductive control of motor and motor controller |
| CN114499351A (en) * | 2022-01-21 | 2022-05-13 | 北京信息科技大学 | Motor system high-reliability operation method based on current phase closed-loop control |
| CN114499351B (en) * | 2022-01-21 | 2023-12-01 | 北京信息科技大学 | Motor system fault detection method |
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